CN204414117U - A kind of vision positioning welding machine people - Google Patents

A kind of vision positioning welding machine people Download PDF

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Publication number
CN204414117U
CN204414117U CN201420762906.2U CN201420762906U CN204414117U CN 204414117 U CN204414117 U CN 204414117U CN 201420762906 U CN201420762906 U CN 201420762906U CN 204414117 U CN204414117 U CN 204414117U
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China
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coordinates
rectilinear movement
axis
movement axes
welding
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CN201420762906.2U
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Chinese (zh)
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王维志
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Hubei College of Automobile Industry
SHIYAN KEWEI ELECTROMECHANICAL EQUIPMENT CO., LTD.
Hubei University of Automotive Technology
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Shiyan Kv Mechanical And Electrical Co ltd
Hubei University of Automotive Technology
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Abstract

The utility model proposes a kind of vision positioning welding machine people, comprise sole plate, column, three rectilinear movement axes of coordinates (X to, Y-direction, Z-direction), a revolution reference axis, welding gun support is fixed on the output shaft of revolution reference axis, welding gun is fixed on welding gun support, its technical essential is: welding gun support is provided with vision positioning device, vision positioning device is made up of CCD camera and laser range sensor, CCD camera output signal is through image pick-up card, laser range sensor signal accesses industrial computer through Data Acquisition Card, industrial computer output signal is through interface amplifying circuit access servomotor, control servomotor rotates.The utility model view-based access control model positioning principle, is directly carried out the collection of three-dimensional data, identifies position in three directions, welding position and control by CCD camera and laser range sensor, realize robot welding process programming, control integration.

Description

A kind of vision positioning welding machine people
Technical field
The utility model patent relates to a kind of vision positioning welding machine people, belongs to equipment manufacturing technical field.
Background technology
Welding is the most frequently used technology of mechanical manufacturing field, the manufacture process of all multi-products such as automobile, boats and ships all be unable to do without welding, it is a variety of to be welded with, wherein melting welding is the most frequently used solder technology, during melting welding, thermal source is by the rapid heat fused of two workpiece interface to be welded, form molten bath, molten bath moves forward with thermal source, forms continuous weld and be connected in one by two workpiece after cooling.Compared to other moulding process, welding efficiency is high, can produce the part that shape and structure is very complicated, and adopt half-formed material to weld together, will save lot of materials compared with global formation, production efficiency is also improved largely.Adopt solder technology to produce product and also have shortcoming, such as formed precision is not high, not easily form automation, artificial or semiautomatic working efficiency is low, welding produces a large amount of smog, to workman's health and environmental concerns, for the product of high accuracy, high welding quality, manual welding is difficult to ensure the quality of products, therefore, solder technology must towards process automation, and intelligent direction develops, improved stability of the welding quality by automation, intellectualized technology, improved programing work efficiency, what solve severe working condition waits series of problems.
Current, the robot (articulated type or Cartesian coordinate type) that industrial circle has some is progressively coming into operation, and the intelligentized development of welding field has also started starting.Such as, 2014.03.28 utility model patent " sighting device for welding robot " (notification number: CN203765194U) announced devises a kind of vision erecting device for welding robot, file display sighting device has detailed mounting structure, independently parts, but the relative installation do not indicated on welding robot and the certainty with welding robot incidence relation; 2013.11.06 the utility model patent " a kind of Intelligent welding robot based on machine vision " (notification number: CN 203791808U) announced, file display device people is furnished with dual camera, camera and welding gun are rigidly connected, do not indicate relative position relation and the function allocation of dual camera, also do not indicate camera and the rigidly connected CONSTRUCTED SPECIFICATION of welding gun, the positive connection of the information that camera obtains and welding torch position cannot be judged.
Summary of the invention
The utility model patent proposes a kind of vision positioning welding machine people, realize workpiece in kind programming and offset correction by vision location and feature extraction, adapt to only have material object there is no drawing or drawing and material object compared with automatic welding when big error.
The technical scheme of the utility model patent is: a kind of vision positioning welding machine people, comprise sole plate, column, three rectilinear movement axes of coordinates, revolution reference axis, laser range sensor, CCD camera, a computer control system, X is to rectilinear movement axes of coordinates, Y-direction rectilinear movement axes of coordinates, Z-direction rectilinear movement axes of coordinates respectively for three rectilinear movement axes of coordinates, and each rectilinear movement axes of coordinates forms by servomotor, lead screw assembly and slide unit, it is characterized in that: X is placed on sole plate to rectilinear movement axes of coordinates, moves along the guide rail on column, Y-direction rectilinear movement axes of coordinates is positioned at X on the slide unit of rectilinear movement axes of coordinates, moves to the slide unit of rectilinear movement axes of coordinates relative to X, column is fixed on Y-direction rectilinear movement axes of coordinates, Z-direction rectilinear movement axes of coordinates moves along the guide rail on column, a revolution reference axis is made up of servomotor, servomotor is arranged on the slide unit of Z-direction rectilinear movement axes of coordinates, welding gun support is fixed on the output shaft of revolution reference axis, welding gun is fixed on welding gun support, welding gun support is provided with vision positioning device, vision positioning device is made up of CCD camera and laser range sensor, CCD camera output signal is through image pick-up card, laser range sensor signal accesses industrial computer through Data Acquisition Card, industrial computer output signal is through interface amplifying circuit access servomotor, control servomotor rotates.
Further restriction to technique scheme: laser range sensor is arranged on immediately below revolution reference axis, with revolution reference axis coaxial line, CCD camera and laser range sensor are installed side by side, axis remains in same plane, CCD camera axis tilts the angle of 18-25 °, ensure that welding gun axis, laser range sensor axis and CCD camera axis are intersected in a bit, ensure that the certainty of measurement of laser range sensor, avoid the interference to sample space, too increase the visual field of CCD camera in welding process.
Beneficial effect: adopt the utility model, after workpiece in kind to be welded is in place on the table, CCD camera shooting high-resolution two-dimensional image, pass through feature recognition and extraction, coordinate the measurement data of laser range sensor on the 3rd direction automatically to generate welding process digital control program, control welding robot and complete whole welding process.The utility model view-based access control model positioning principle, realize robot welding process programming, control integration, particularly for there is no drawing, or when drawing and material object exist compared with big error, directly treat welder's part and carry out scanning shoot, feature recognition and extraction, particularly vision localization part is combined by laser range sensor and CCD camera and forms, the collection of three-dimensional data can be carried out, position in three directions, welding position is identified and controlled, CCD camera tilts an angle, ensure that the certainty of measurement of laser range sensor, avoid the interference to sample space, too increase the visual field of CCD camera in welding process, improve the welding track control accuracy of programming efficiency and robot.
Accompanying drawing explanation
Accompanying drawing 1 is vision positioning welding machine people structural principle schematic diagram.
Accompanying drawing 2 is the A direction view (enlarged drawing) in accompanying drawing 1.
Accompanying drawing 3 is vision positioning welding machine people electronic schematic diagram.
Detailed description of the invention
By reference to the accompanying drawings 1, accompanying drawing 2, accompanying drawing 3, further describe the utility model patent as follows: a kind of vision positioning welding machine people, comprise sole plate 3, column 9, X is to rectilinear movement axes of coordinates 4, Y-direction rectilinear movement axes of coordinates 7, Z-direction rectilinear movement axes of coordinates 8, revolution reference axis 6, laser range sensor 1, CCD camera 2 and computer control system, computer control system comprises computer motherboard 18, display 19, position control plate 16, servo amplifier 17, revolution reference axis 6, servomotor 21, servomotor 22 and servomotor 23, image pick-up card 14, Data Acquisition Card 12, I/O card 10, button and travel switch 20 form, each rectilinear movement axes of coordinates is by servomotor, lead screw assembly and slide unit composition.X is placed on sole plate 3 to rectilinear movement reference axis 4, move along the guide rail on base, Y-direction rectilinear movement reference axis 4 is positioned at X on rectilinear movement reference axis slide unit, move to rectilinear movement reference axis slide unit relative to X, column 9 is fixed on Y-direction rectilinear movement reference axis, Z-direction rectilinear movement reference axis 8 moves along the guide rail on column 9, revolution reference axis 6 is made up of servomotor, be arranged on Z-direction rectilinear movement reference axis slide unit, servomotor 21, servomotor 22, servomotor 23 respectively through shaft coupling and X to rectilinear movement axes of coordinates, X is to rectilinear movement axes of coordinates, X links together to the lead screw assembly of rectilinear movement axes of coordinates, revolution reference axis 6 is servomotor, directly be fixed on the slide unit of Z-direction rectilinear movement reference axis, welding gun support 24, be fixed on revolution reference axis output shaft, welding gun 5 is fixed on welding gun support 24, laser range sensor is arranged on immediately below revolution reference axis, with revolution reference axis coaxial line, CCD camera and laser range sensor are installed side by side, axis remains in same plane, ccd video camera axis tilts the angle of 21 °, CCD camera signals output is through image pick-up card 14, laser range sensor is through Data Acquisition Card 12 interface circuit access industrial control computer mainboard 18, industrial computer output order accesses servo amplifier 17 through position control plate 16, signal after amplification drives servomotor 21, 22, 23 and revolution reference axis 6 rotate.After soldered workpiece is in place below welding robot, the current location of welding gun is set to work coordinate system zero point, laser range sensor measuring workpieces is to the Z-direction distance of welding gun, the two dimensional image of CCD camera shooting workpiece, on a computer display by mode identification welding track and the auxiliary movement track of man-machine interaction, control system extracts welding track and auxiliary movement track automatically, then automatically digital control program is generated, press welding start button 20, control system controls welding gun and arrives welding starting point, after vision positioning system carries out the correction correction in 3 directions to starting point, robot drives welding gun along seam track automatic welding, welding process terminates, work coordinate system zero point got back to by robot controlling welding gun.
Described CCD camera shaft angle degree adjusts the scope of 18-25 °.

Claims (2)

1. a vision positioning welding machine people, comprise sole plate, column, three rectilinear movement axes of coordinates, revolution reference axis, laser range sensor, CCD camera, a computer control system, X is to rectilinear movement axes of coordinates, Y-direction rectilinear movement axes of coordinates, Z-direction rectilinear movement axes of coordinates respectively for three rectilinear movement axes of coordinates, and each rectilinear movement axes of coordinates forms by servomotor, lead screw assembly and slide unit, it is characterized in that: X is placed on sole plate to rectilinear movement axes of coordinates, moves along the guide rail on column, Y-direction rectilinear movement axes of coordinates is positioned at X on the slide unit of rectilinear movement axes of coordinates, moves to the slide unit of rectilinear movement axes of coordinates relative to X, column is fixed on Y-direction rectilinear movement axes of coordinates, Z-direction rectilinear movement axes of coordinates moves along the guide rail on column, a revolution reference axis is made up of servomotor, servomotor is arranged on the slide unit of Z-direction rectilinear movement axes of coordinates, welding gun support is fixed on the output shaft of revolution reference axis, welding gun is fixed on welding gun support, welding gun support is provided with vision positioning device, vision positioning device is made up of CCD camera and laser range sensor, CCD camera output signal is through image pick-up card, laser range sensor signal accesses industrial computer through Data Acquisition Card, industrial computer output signal is through interface amplifying circuit access servomotor, control servomotor rotates.
2. a kind of vision positioning welding machine people according to claim 1, it is characterized in that: laser range sensor is arranged on immediately below revolution reference axis, with revolution reference axis coaxial line, CCD camera and laser range sensor are installed side by side, axis remains in same plane, CCD camera axis tilts the angle of 18-25 °, ensures that welding gun axis, laser range sensor axis and CCD camera axis are intersected in a bit.
CN201420762906.2U 2014-12-08 2014-12-08 A kind of vision positioning welding machine people Active CN204414117U (en)

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105215972A (en) * 2015-09-18 2016-01-06 中国科学院合肥物质科学研究院 A kind of orcible entry robot eye coordinate positioner and method
CN105904131A (en) * 2016-05-27 2016-08-31 大连智汇达科技有限公司 Full-automatic welding mechanical arm
CN106041993A (en) * 2016-07-26 2016-10-26 中国人民解放军军械工程学院 Mechanical arm capable of conducting accurate positioning and positioning method of mechanical arm
CN106695069A (en) * 2016-12-21 2017-05-24 中国民航大学 Overlaying repairing device for compressor blade of civil aero-engine
CN106736057A (en) * 2016-11-29 2017-05-31 北京卫星制造厂 A kind of welding robot system of portable automatic addressing
CN107150183A (en) * 2017-05-19 2017-09-12 机械科学研究院哈尔滨焊接研究所 Full-automatic tube-tube plate welding device and the detection for the device and welding method
CN107457793A (en) * 2016-06-03 2017-12-12 发纳科美国公司 Dynamic laser touch-sensing is carried out using multirobot dynamic subscriber frame
CN108453441A (en) * 2018-03-22 2018-08-28 四川恒立智方自动化工程有限公司 industrial welding robot welding quality identification method
CN108544153A (en) * 2018-04-23 2018-09-18 哈尔滨阿尔特机器人技术有限公司 A kind of vision robot's system for Tube-sheet Welding
CN109746943A (en) * 2019-03-21 2019-05-14 重庆东渝中能实业有限公司 3D structure light scan device and intelligence manufacture robot
CN109967929A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 It is a kind of for calibrating the method and device thereof in welding robot path
CN110174049A (en) * 2019-05-22 2019-08-27 上海交通大学 Steel tube screw thread image detection device and its moving method
CN110449783A (en) * 2019-08-06 2019-11-15 河南卫华重型机械股份有限公司 A kind of acquisition methods of robotic welding apparatus and seam track
CN110576286A (en) * 2019-09-26 2019-12-17 重庆红旗杰勋车轮有限公司 Visual inspection type internal welding equipment
CN111571082A (en) * 2020-06-02 2020-08-25 深圳市超准视觉科技有限公司 Automatic welding method and device, mobile terminal and readable storage medium

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105215972A (en) * 2015-09-18 2016-01-06 中国科学院合肥物质科学研究院 A kind of orcible entry robot eye coordinate positioner and method
CN105904131A (en) * 2016-05-27 2016-08-31 大连智汇达科技有限公司 Full-automatic welding mechanical arm
CN107457793A (en) * 2016-06-03 2017-12-12 发纳科美国公司 Dynamic laser touch-sensing is carried out using multirobot dynamic subscriber frame
CN106041993A (en) * 2016-07-26 2016-10-26 中国人民解放军军械工程学院 Mechanical arm capable of conducting accurate positioning and positioning method of mechanical arm
CN106736057A (en) * 2016-11-29 2017-05-31 北京卫星制造厂 A kind of welding robot system of portable automatic addressing
CN106695069A (en) * 2016-12-21 2017-05-24 中国民航大学 Overlaying repairing device for compressor blade of civil aero-engine
CN107150183A (en) * 2017-05-19 2017-09-12 机械科学研究院哈尔滨焊接研究所 Full-automatic tube-tube plate welding device and the detection for the device and welding method
CN107150183B (en) * 2017-05-19 2020-02-14 哈尔滨焊接研究院有限公司 Full-automatic detection and welding method for tube and tube plate
CN109967929A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 It is a kind of for calibrating the method and device thereof in welding robot path
CN108453441A (en) * 2018-03-22 2018-08-28 四川恒立智方自动化工程有限公司 industrial welding robot welding quality identification method
CN108544153A (en) * 2018-04-23 2018-09-18 哈尔滨阿尔特机器人技术有限公司 A kind of vision robot's system for Tube-sheet Welding
CN109746943A (en) * 2019-03-21 2019-05-14 重庆东渝中能实业有限公司 3D structure light scan device and intelligence manufacture robot
CN110174049A (en) * 2019-05-22 2019-08-27 上海交通大学 Steel tube screw thread image detection device and its moving method
CN110449783A (en) * 2019-08-06 2019-11-15 河南卫华重型机械股份有限公司 A kind of acquisition methods of robotic welding apparatus and seam track
CN110576286A (en) * 2019-09-26 2019-12-17 重庆红旗杰勋车轮有限公司 Visual inspection type internal welding equipment
CN110576286B (en) * 2019-09-26 2021-04-23 重庆红旗杰勋车轮有限公司 Visual inspection type internal welding equipment
CN111571082A (en) * 2020-06-02 2020-08-25 深圳市超准视觉科技有限公司 Automatic welding method and device, mobile terminal and readable storage medium

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C14 Grant of patent or utility model
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C56 Change in the name or address of the patentee
CP01 Change in the name or title of a patent holder

Address after: Shiyan City, Hubei province 442002 City Road No. 167

Patentee after: Hubei College of Automobile Industry

Patentee after: SHIYAN KEWEI ELECTROMECHANICAL EQUIPMENT CO., LTD.

Address before: Shiyan City, Hubei province 442002 City Road No. 167

Patentee before: Hubei College of Automobile Industry

Patentee before: The dynamo-electric Co., Ltd of Shiyan section prestige

Address after: Shiyan City, Hubei province 442002 City Road No. 167

Patentee after: Hubei University of Automobile Technology

Patentee after: SHIYAN KEWEI ELECTROMECHANICAL EQUIPMENT CO., LTD.

Address before: Shiyan City, Hubei province 442002 City Road No. 167

Patentee before: Hubei University of Automobile Technology

Patentee before: The dynamo-electric Co., Ltd of Shiyan section prestige